#ifndef FOLLOWTHELEADER_H
#define FOLLOWTHELEADER_H

#include "Motor.h"
#include "Bumper.h"
#include "LED.h"
#include "send.h"
#include "swarmSocketServer.h"
#include "swarmSocketClient.h"
#include "Network.h"
#include "robotParser.h"

#include <climits>
#include <cfloat>
#include <vector>
#include <string>
#include <iostream>
#include "SwarmAlgorithm.hpp"
#include "ClusterAlgorithm.hpp"

class FLAlgorithm: public SwarmAlgorithm {
private:
    static const double offset;

    std::vector<Robot> robots;
    double angle, rad;
    string color;
    LED *led;
    unsigned char getAction();

public:
    FLAlgorithm();
    bool setup();
    void loopBody();

};

#endif
